14 FREE MOVES !!!

[DirtyRoboto]

Yes, come and get them while they are hot!

Here are the 12 move routines and 2 performance routines that I used in my Drum and Bass II video. Some of the routines were not executed by the RND selector in the video so you did not get to see them.

As always when X'ing someone elses code, keep your hands close too the bot incase it falls. Remark any code that makes your bot fall.
Once you are confident that the routine is safe, X it hands free .

Please retain the header!

DirtyRoboto

Marcus.


'===================================================
' === DirtyRoboto December 30 2006 =================
' === DirtyRoboto@btinternet.com =================
'== Routine of 14 moves used in D&B 2 Video ========
'== Remote key number 5 triggers this routine ======
'= None of these moves may be used in competition ==
'== or commercial demonstration without permission =
'=====E=======N======J=======O=======Y=======!======
'===================================================

DIM A AS BYTE
DIM x AS BYTE
DIM y AS BYTE


PTP SETON
PTP ALLON

'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0

'== motor start position read ===================
GETMOTORSET G6A,1,1,1,1,1,0
GETMOTORSET G6B,1,1,1,0,0,0
GETMOTORSET G6C,1,1,1,0,0,0
GETMOTORSET G6D,1,1,1,1,1,0

SPEED 5

'== motor power on =============================
MOTOR G24

GOSUB standard_pose

'================================================
MAIN:

A = REMOCON(1)
IF A <> 5 THEN GOTO main

GOSUB govenor

GOSUB standard_pose

GOTO MAIN

'=====================================
first_pose:
'bend down arms infront of face
SPEED 4
MOVE G6A,102, 146, 29, 156, 99, 100
MOVE G6D,102, 147, 30, 155, 96, 100
WAIT
MOVE G6B, 61, 170, 190, 100, 100, 100
MOVE G6C, 61, 172, 189, 100, 100, 100
'insert trigger here
DELAY 6000
'======================================
intro:
SPEED 2
MOVE G6B, 61, 143, 190, 100, 100, 100
MOVE G6C, 60, 144, 189, 100, 100, 100
WAIT
MOVE G6A,102, 146, 29, 141, 98, 100
MOVE G6D,102, 147, 30, 140, 97, 100
WAIT
DELAY 1300
MOVE G6B,103, 149, 190, 100, 100, 100
MOVE G6C,106, 101, 102, 100, 100, 100
WAIT
DELAY 1300
SPEED 4
MOVE G6B,100, 175, 101, 100, 100, 100
MOVE G6C,104, 30, 96, 100, 100, 100
WAIT
DELAY 650
MOVE G6A,103, 119, 65, 133, 98, 100
MOVE G6D,102, 118, 65, 132, 97, 100
WAIT
SPEED 2
MOVE G6B, 53, 175, 102, 100, 100, 100
MOVE G6C, 47, 30, 97, 100, 100, 100
WAIT
DELAY 1300
MOVE G6A,103, 80, 126, 114, 98, 100
MOVE G6D,101, 78, 124, 115, 98, 100
WAIT
SPEED 4
MOVE G6C, 53, 17, 67, 100, 100, 100
MOVE G6B, 57, 190, 107, 100, 100, 100
WAIT
DELAY 650
SPEED 2
MOVE G6A,103, 80, 126, 105, 98, 100
MOVE G6D,101, 78, 124, 106, 98, 100
WAIT
SPEED 4
MOVE G6B, 47, 89, 94, 100, 100, 100
MOVE G6C, 45, 90, 92, 100, 100, 100
WAIT
MOVE G6B, 58, 183, 101, 100, 100, 100
MOVE G6C, 60, 179, 108, 100, 100, 100
WAIT
SPEED 2
DELAY 350
MOVE G6B, 13, 184, 101, 100, 100, 100
MOVE G6C, 10, 178, 109, 100, 100, 100
WAIT
DELAY 650
MOVE G6B, 23, 46, 93, 100, 100, 100
MOVE G6C, 21, 45, 98, 100, 100, 100
MOVE G6A,102, 102, 115, 87, 98, 100
MOVE G6D,102, 100, 112, 89, 98, 100
WAIT
DELAY 650
MOVE G6B, 56, 18, 79, 100, 100, 100
MOVE G6C, 51, 179, 105, 100, 100, 100
WAIT
MOVE G6C, 52, 143, 105, 100, 100, 100
WAIT
MOVE G6C, 68, 71, 100, 100, 100, 100
WAIT
MOVE G6C, 57, 13, 85, 100, 100, 100
WAIT
RETURN
'***************************************
point1:
DELAY 650
SPEED 8
'***************************************
square_arm_down:
SPEED 15
'straighten into square arm
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6B, 97, 99, 13, 100, 100, 100
MOVE G6C,100, 99, 12, 100, 100, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
RETURN
'***************************************
square_arm_up:
SPEED 15
'straighten into square arm
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6B,100, 99, 188, 100, 100, 100
MOVE G6C,100, 99, 188, 100, 100, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
RETURN
'***************************************
pump_square_arm:
'pump square arm alternate
SPEED 15
FOR x = 1 TO 4
MOVE G6B, 97, 45, 71, 100, 100, 100
WAIT
MOVE G6B, 97, 99, 13, 100, 100, 100
WAIT
MOVE G6C,101, 40, 77, 100, 100, 100
WAIT
MOVE G6C,100, 99, 12, 100, 100, 100
WAIT
NEXT x
WAIT
RETURN
'***************************************
bounce_legs:
'bounce legs
SPEED 8
FOR x = 1 TO 8
MOVE G6A,102, 84, 113, 123, 98, 100
MOVE G6D,102, 81, 113, 125, 98, 100
WAIT
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
NEXT x
WAIT
RETURN
'***************************************
bounce_legs_alt:
SPEED 15
'bounce legs alternate
FOR x = 1 TO 8
MOVE G6A,103, 78, 113, 131, 110, 100
MOVE G6D,101, 64, 138, 121, 87, 100
WAIT
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
MOVE G6D,103, 78, 113, 131, 110, 100
MOVE G6A,101, 64, 138, 121, 87, 100
WAIT
NEXT x
WAIT
RETURN
'***************************************
bounce_legs_arm:
'bounce legs & arms
SPEED 10
FOR x = 1 TO 6
MOVE24 102, 84, 113, 123, 98, 100, 97, 45, 71, 100, 100, 100,100, 99, 12, 100, 100, 100,102, 81, 113, 125, 98, 100
WAIT
MOVE24 102, 78, 130, 110, 98, 100, 97, 99, 13, 100, 100, 100,101, 40, 77, 100, 100, 100,102, 72, 134, 113, 98, 100
WAIT
NEXT x
SPEED 15
'straighten into square arm
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6B, 97, 99, 13, 100, 100, 100
MOVE G6C,100, 99, 12, 100, 100, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
RETURN
'***************************************
bounce_legs_arm_alt:
SPEED 8
'bounce legs and arm alternate
FOR x = 1 TO 8
MOVE G6A,103, 78, 113, 131, 110, 100
MOVE G6B, 97, 45, 180, 100, 100, 100
MOVE G6C,101, 40, 71, 100, 100, 100
MOVE G6D,101, 64, 138, 121, 87, 100
WAIT
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
MOVE G6D,103, 78, 113, 131, 110, 100
MOVE G6B, 97, 99, 180, 100, 100, 100
MOVE G6C,100, 99, 13, 100, 100, 100
MOVE G6A,101, 64, 138, 121, 87, 100
WAIT
NEXT x
SPEED 15
'straighten into square arm
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6B, 97, 99, 180, 100, 100, 100
MOVE G6C,100, 99, 180, 100, 100, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
SPEED 8
WAIT
RETURN
'***************************************
bounce_legs_3_height_arm:
'bounce legs & arms
SPEED 15
FOR x = 1 TO 4
MOVE24 102, 84, 113, 123, 98, 100, 180, 45, 71, 100, 100, 100,180, 99, 12, 100, 100, 100,102, 81, 113, 125, 98, 100
WAIT
MOVE24 102, 78, 130, 110, 98, 100, 180, 99, 13, 100, 100, 100,180, 40, 77, 100, 100, 100,102, 72, 134, 113, 98, 100
WAIT
MOVE24 102, 84, 113, 123, 98, 100, 145, 45, 71, 100, 100, 100,145, 99, 12, 100, 100, 100,102, 81, 113, 125, 98, 100
WAIT
MOVE24 102, 78, 130, 110, 98, 100, 145, 99, 13, 100, 100, 100,145, 40, 77, 100, 100, 100,102, 72, 134, 113, 98, 100
WAIT
MOVE24 102, 84, 113, 123, 98, 100, 100, 45, 71, 100, 100, 100,100, 99, 12, 100, 100, 100,102, 81, 113, 125, 98, 100
WAIT
MOVE24 102, 78, 130, 110, 98, 100, 100, 99, 13, 100, 100, 100,100, 40, 77, 100, 100, 100,102, 72, 134, 113, 98, 100
WAIT
MOVE24 102, 84, 113, 123, 98, 100, 145, 45, 71, 100, 100, 100,145, 99, 12, 100, 100, 100,102, 81, 113, 125, 98, 100
WAIT
MOVE24 102, 78, 130, 110, 98, 100, 145, 99, 13, 100, 100, 100,145, 40, 77, 100, 100, 100,102, 72, 134, 113, 98, 100
WAIT
NEXT x
SPEED 15

'straighten into square arm
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6B, 97, 99, 13, 100, 100, 100
MOVE G6C,100, 99, 12, 100, 100, 100
MOVE G6D,102, 72, 134, 113, 98, 100
WAIT
RETURN
'***************************************
udarm_jig:
'2 arm bounce
FOR y = 1 TO 3
HIGHSPEED SETOFF
SPEED 15
MOVE G6A,103, 119, 65, 133, 98, 100
MOVE G6D,102, 118, 65, 132, 97, 100
WAIT
HIGHSPEED SETON
SPEED 10
FOR x = 1 TO 2
MOVE G6B, 120, 45, 71, 100, 100, 100
MOVE G6C,80, 40, 180, 100, 100, 100
WAIT
MOVE G6B, 97, 99, 13, 100, 100, 100
MOVE G6C,100, 99, 180, 100, 100, 100
WAIT
NEXT x
HIGHSPEED SETOFF
'---
SPEED 15
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
WAIT
HIGHSPEED SETON
SPEED 10
FOR x = 1 TO 2
MOVE G6C, 120, 45, 71, 100, 100, 100
MOVE G6B,80, 40, 180, 100, 100, 100
WAIT
MOVE G6C, 97, 99, 13, 100, 100, 100
MOVE G6B,100, 99, 180, 100, 100, 100
WAIT
NEXT x
NEXT y
HIGHSPEED SETOFF
WAIT
RETURN
'====================================
flight:
SPEED 3
'arms out at sides
MOVE G6B,101, 100, 103, 100, 100, 100
MOVE G6C,102, 104, 102, 100, 100, 100
WAIT
'tilt to left
MOVE G6A,108, 103, 90, 123, 110, 100
MOVE G6D, 95, 84, 114, 114, 87, 100
WAIT
'glide down right
MOVE G6A, 89, 105, 87, 122, 98, 100
MOVE G6D,115, 113, 69, 131, 96, 100
MOVE G6B,180, 100, 103, 100, 100, 100
MOVE G6C,180, 104, 102, 100, 100, 100
WAIT
'glide up to center with left tilt
MOVE G6A,107, 87, 112, 118, 109, 100
MOVE G6D, 95, 67, 147, 103, 87, 100
WAIT
'center with right tilt
MOVE G6A, 98, 60, 149, 108, 87, 100
MOVE G6D,106, 76, 113, 127, 110, 100
WAIT
'glide down left
MOVE G6A,113, 119, 54, 146, 109, 100
MOVE G6D, 91, 103, 78, 136, 87, 100
MOVE G6B,50, 100, 103, 100, 100, 100
MOVE G6C,50, 104, 102, 100, 100, 100
WAIT
SPEED 2
'tilt back to center low
MOVE G6A,104, 135, 67, 80, 97, 100
MOVE G6D,100, 136, 68, 78, 98, 100
WAIT
'tilt right back low
MOVE G6A, 93, 120, 98, 73, 89, 100
MOVE G6D,111, 141, 79, 68, 106, 100
MOVE G6B,101, 100, 103, 100, 100, 100
MOVE G6C,102, 104, 102, 100, 100, 100
WAIT
'tilt left back low
MOVE G6A,111, 133, 70, 81, 87, 100
MOVE G6D, 92, 139, 68, 75, 110, 100
WAIT
're center low
MOVE G6A,103, 128, 71, 113, 96, 100
MOVE G6D,101, 129, 68, 114, 100, 100
WAIT
SPEED 5
'back up to stand center
MOVE G6A,103, 78, 138, 96, 98, 100
MOVE G6D,101, 76, 138, 97, 98, 100
WAIT
RETURN
'====================================
twiz_left:
'arm up and bend
SPEED 13
MOVE G6C,103, 75, 17, 100, 100, 100
MOVE G6B, 93, 100, 168, 100, 100, 100
'-
MOVE G6D,108, 103, 90, 123, 110, 100
MOVE G6A, 95, 84, 114, 114, 87, 100
WAIT
HIGHSPEED SETON
SPEED 8
FOR x = 1 TO 8
MOVE G6B, 68, 101, 189, 100, 100, 100
WAIT
MOVE G6B, 71, 98, 156, 100, 100, 100
WAIT
MOVE G6B,120, 97, 166, 100, 100, 100
WAIT
MOVE G6B, 98, 109, 190, 100, 100, 100
WAIT
NEXT x
HIGHSPEED SETOFF
WAIT
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6B,100, 99, 188, 100, 100, 100
MOVE G6C,100, 99, 188, 100, 100, 100
MOVE G6D,102, 72, 134, 113, 98, 100
RETURN
'====================================
twiz_right:
'arm up and bend
SPEED 13
MOVE G6B,103, 75, 17, 100, 100, 100
MOVE G6C, 93, 100, 168, 100, 100, 100
'-
MOVE G6A,108, 103, 90, 123, 110, 100
MOVE G6D, 95, 84, 114, 114, 87, 100
WAIT
HIGHSPEED SETON
SPEED 8
FOR x = 1 TO 8
MOVE G6C, 68, 101, 189, 100, 100, 100
WAIT
MOVE G6C, 71, 98, 156, 100, 100, 100
WAIT
MOVE G6C,120, 97, 166, 100, 100, 100
WAIT
MOVE G6C, 98, 109, 190, 100, 100, 100
WAIT
NEXT x
HIGHSPEED SETOFF
WAIT
MOVE G6A,102, 78, 130, 110, 98, 100
MOVE G6B,100, 99, 188, 100, 100, 100
MOVE G6C,100, 99, 188, 100, 100, 100
MOVE G6D,102, 72, 134, 113, 98, 100
RETURN
'====================================
arm_flex:
SPEED 10
'arch arms up
MOVE G6C,101, 156, 186, 100, 100, 100
MOVE G6B,100, 156, 185, 100, 100, 100
WAIT
HIGHSPEED SETON
SPEED 15
FOR y = 1 TO 2
FOR x = 1 TO 2
'arms straight up
MOVE G6B,101, 188, 99, 100, 100, 100
MOVE G6C, 99, 186, 106, 100, 100, 100
WAIT
'back into arch
MOVE G6C,101, 156, 186, 100, 100, 100
MOVE G6B,100, 156, 185, 100, 100, 100
WAIT
NEXT x
FOR x = 1 TO 2
'arms out to side
MOVE G6B,101, 100, 103, 100, 100, 100
MOVE G6C,102, 104, 102, 100, 100, 100
WAIT
'back into arch
MOVE G6C,101, 156, 186, 100, 100, 100
MOVE G6B,100, 156, 185, 100, 100, 100
WAIT
NEXT x
NEXT y
HIGHSPEED SETOFF
WAIT
RETURN
'====================================
arm_flex_bend:
SPEED 15
'arch arms up
MOVE G6C,101, 156, 186, 100, 100, 100
MOVE G6B,100, 156, 185, 100, 100, 100
WAIT
HIGHSPEED SETON
SPEED 5
FOR y = 1 TO 4
MOVE G6A,103, 128, 71, 113, 96, 100
MOVE G6D,101, 129, 68, 114, 100, 100
FOR x = 1 TO 2
'arms straight up
MOVE G6B,101, 188, 99, 100, 100, 100
MOVE G6C, 99, 186, 106, 100, 100, 100
WAIT
'back into arch
MOVE G6C,101, 156, 186, 100, 100, 100
MOVE G6B,100, 156, 185, 100, 100, 100
WAIT
NEXT x
MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
FOR x = 1 TO 2
'arms out to side
MOVE G6B,101, 100, 103, 100, 100, 100
MOVE G6C,102, 104, 102, 100, 100, 100
WAIT
'back into arch
MOVE G6C,101, 156, 186, 100, 100, 100
MOVE G6B,100, 156, 185, 100, 100, 100
WAIT
NEXT x
NEXT y
HIGHSPEED SETOFF
WAIT
RETURN
'========================================
standard_pose:

MOVE G6A,100, 76, 145, 93, 100, 100
MOVE G6D,100, 76, 145, 93, 100, 100
MOVE G6B,100, 30, 80, 100, 100, 100
MOVE G6C,100, 30, 80, 100, 100, 100
WAIT

RETURN
'================================================

'[][][][][][][][][][][][][][][][][][][][][][][][][[]
govenor:

GOSUB first_pose
WAIT
GOSUB intro
WAIT
GOSUB square_arm_down
WAIT
DELAY 1000
GOSUB square_arm_up
WAIT
DELAY 1000
GOSUB pump_square_arm
WAIT
DELAY 1000
GOSUB bounce_legs
WAIT
DELAY 1000
GOSUB bounce_legs_alt
WAIT
DELAY 1000
GOSUB bounce_legs_arm
WAIT
DELAY 1000
GOSUB bounce_legs_arm_alt
WAIT
DELAY 1000
GOSUB bounce_legs_3_height_arm
WAIT
DELAY 1000
GOSUB udarm_jig
WAIT
DELAY 1000
GOSUB twiz_left
WAIT
DELAY 1000
GOSUB twiz_right
WAIT
DELAY 1000
GOSUB arm_flex
WAIT
DELAY 1000
GOSUB arm_flex_bend
WAIT
GOSUB flight
RETURN
'[][][][][][][][][][][][][][][][][][][][][][][][][[]

[splod]

I would just like to thank you in advance Dirtyrobbo for your superb community spirit in sharing your code to us newbies who haven't the slightest idea of how to program!

Cheers,

Dave

[DirtyRoboto]

No probs bruv. Its not like I am going too make a fortune from my routines. If I just keep them too myself then what is the point!
I am not in an organsation, achedemic or other so I cannot work on team projects and thus share with other team members.

I only wish that one day I can go to Japan and work in robotics as I feel that it is an area that needs to be advanced as fast as possible, and that I can contribute to a society that embraces them.

Marcus.

[Humanoido]

I'd like to thank you, dirty roboto, for sharing your RN code. For me, this is helpful as I'm still learning code and what everything does in the motions. I mean we don't have a manual with all these details and this forum is our best outlet for information. When viewing your remarkable videos I often wonder how you accomplish this move or that move, and so seeing the code is helpful. Thank you for having this sharing spirit, and yes, I think we, as a forum group, are the best people to appreciate and understand your contributions. I'm speaking on behalf of all the silent people as well when I say, Thank You! (as far as going to Japan, I'd suggest you start learning Japanese language, and as they say, be careful what you ask for, you just might get it)

humanoido

[limor]

Thanks for the contribution!
Please add a link to this thread to the "contributed scripts" section in the Robonova FAQ wiki

[DirtyRoboto]

I did a Japanese language and culture night class when I was 20 and feel that I could pick the language up if forced to. The company that I work for has a data center in Tokyo and I am as we speak, making plans to position myself for one of these jobs.

I have also had a photo selected to be in an 2008 calender for a company that produces weapons and trains professional people how to use them, (I know its not PC). I own one of their weapons and took a picture of a Robin sitting on the pommel (14 megpix) using a 200mm lens. I do not expect too be paid for this, just like the routines I post here.

Marcus.

[srobot]

I have also had a photo selected to be in an 2008 calender for a company that produces weapons and trains professional people how to use them, (I know its not PC). I own one of their weapons and took a picture of a Robin sitting on the pommel (14 megpix) using a 200mm lens. I do not expect too be paid for this, just like the routines I post here.

I'm sorry, but I do not under stand what you are saying.

--Scotty

[DirtyRoboto]

Forgive me. But I am saying that I do good work and give the results away for free.

see here...


{{{ PICTURE REMOVED BY USER }}}

[Humanoido]

Marcus, you are certainly in step with not only the latest technology but the evolution that goes with it.

One of the big buzz words is open source, and we're going to see a lot more of it. Companies are rushing to provide free open source software and now open source hardware has become a reality.

You can even find such a community for servos here:

http://www.openservo.com/forums/

I predict that we'll see more entire humanoid robot projects conducted as open source in the near future.

Maybe the PINO humanoid robot now fits into this category, at least for software.

http://www.symbio.jst.go.jp/PINO/

humanoido

[DirtyRoboto]

ROFL Humanoido!!!

I have just been having that very conversation earlier today. One of my collegues was pimped as the open source guru so I went and had a chat with him. What I had heard was true.
We spoke for about an hour about open source and he demonstrated VM for me (virtual machine).
I see the use of virtual machines as a good way forward for AI. With enough power you could have a VM swarm. Then if each VM controlled a robot you would have a powerful robot swarm where the swarms mind was a cluster of individual computers working together.

Marcus.

[Humanoido]

Remarkable!

Of course that approach is one brilliant aspect of AI, where the sum of the parts make up the whole. It's like a brain, where the firing of individual neurons along the synapse pathways are what keep thoughts alive.

The same is true of the robotic swarm you mention. In the past, I was a strict proponent of full atonomy, but now with the possibilities of a massive intelligence, - internet, various forms of communication, remote wireless coupling, and/or sub-parts residing elsewhere, I do believe there is room for such new ideas and creativity, especially for new functions and a much more powerful response capability.

Virtual is very powerful. I had built "nasa" virtual control panels, the kind in the space shuttle to reduce weight, eliminate parts, and gain many new functions. I see the same prospects for our humanoids whether VR systems are related to hardware or software. Say, dirty roboto, I really like your ideas, and noted that some time ago you threaded about virtual hardware for Robonova - a topic which I greatly appreciated.

humanoido

[kevdemed]

Oh yeah!

I saw that!

Great job on the routine!